108 lines
3.1 KiB
Lua
108 lines
3.1 KiB
Lua
local config = dofile "config.lua"
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local modems = {}
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for name, location in pairs(config.modems) do
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modems[name] = peripheral.wrap(name)
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modems[name].location = location
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modems[name].open(21592)
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end
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local key = config.spudnet_key
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if not key then error "SPUDNET key not found." end
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local ws
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local function connect()
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while true do
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ws, err = http.websocket("wss://osmarks.tk/wsthing/SGNS/admin", { authorization = "Key " .. key })
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if err then
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printError(err)
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sleep(1)
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else
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break
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end
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end
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end
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connect()
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local function send(msg)
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local ok, err = pcall(ws.send, json.encode(msg))
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if not ok then
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connect()
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end
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end
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-- Trilateration code from GPS and modified slightly
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local function trilaterate( A, B, C )
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local a2b = B.position - A.position
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local a2c = C.position - A.position
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if math.abs( a2b:normalize():dot( a2c:normalize() ) ) > 0.999 then
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return nil
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end
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local d = a2b:length()
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local ex = a2b:normalize( )
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local i = ex:dot( a2c )
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local ey = (a2c - (ex * i)):normalize()
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local j = ey:dot( a2c )
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local ez = ex:cross( ey )
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local r1 = A.distance
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local r2 = B.distance
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local r3 = C.distance
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local x = (r1*r1 - r2*r2 + d*d) / (2*d)
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local y = (r1*r1 - r3*r3 - x*x + (x-i)*(x-i) + j*j) / (2*j)
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local result = A.position + (ex * x) + (ey * y)
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local zSquared = r1*r1 - x*x - y*y
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if zSquared > 0 then
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local z = math.sqrt( zSquared )
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local result1 = result + (ez * z)
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local result2 = result - (ez * z)
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local rounded1, rounded2 = result1:round( 0.01 ), result2:round( 0.01 )
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if rounded1.x ~= rounded2.x or rounded1.y ~= rounded2.y or rounded1.z ~= rounded2.z then
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return rounded1, rounded2
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else
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return rounded1
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end
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end
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return result:round( 0.01 )
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end
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local function narrow( p1, p2, fix )
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local dist1 = math.abs( (p1 - fix.position):length() - fix.distance )
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local dist2 = math.abs( (p2 - fix.position):length() - fix.distance )
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if math.abs(dist1 - dist2) < 0.01 then
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return p1, p2
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elseif dist1 < dist2 then
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return p1:round( 0.01 )
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else
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return p2:round( 0.01 )
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end
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end
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local fixes = {}
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while true do
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local _, modem, channel, reply_channel, message, distance = os.pullEvent "modem_message"
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if distance and (type(message) == "string" or type(message) == "number") then
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local reply_modem = modems[modem]
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reply_modem.transmit(reply_channel, gps.CHANNEL_GPS, reply_modem.location)
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table.insert(fixes, { position = vector.new(unpack(reply_modem.location)), distance = distance })
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if #fixes == 4 then
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local p1, p2 = trilaterate(fixes[1], fixes[2], fixes[3])
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if p1 and p2 then
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local pos = narrow(p1, p2, fixes[4])
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send { type = "position_fix", dimension = config.dimension, x = pos.x, y = pos.y, z = pos.z, ID = message }
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else
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send { type = "error", error = "position fix failed", ID = message }
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end
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fixes = {}
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end
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end
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end |